Miniature robust five-dimensional fingertip force/torque sensor with high performance

This paper proposes an innovative design and investigation for a five-dimensional fingertip force/torque sensor with a dual annular diaphragm. This sensor can be applied to a robot hand to measure forces along the X-,Y-and Z-axes (F_x, F_y and F_z) and moments about the X-and Y-axes (M_x and M_y) simultaneously. Particularly, the details of the sensing principle, the structural design and the overload protection mechanism are presented. Afterward, based on the design of experiments approach provided by the software ANSYS^®, a finite element analysis and an optimization design are performed. These are performed with the objective of achieving both high sensitivity and stiffness of the sensor. Furthermore, static and dynamic calibrations based on the neural network method are carried out. Finally, an application of the developed sensor on a dexterous robot hand is demonstrated. The results of calibration experiments and the application show that the developed sensor possesses high performance and robustness.